Probe loading device for marine surveying and mapping unmanned ship based on complex environment

Abstract

The invention provides a probe loading device for a marine surveying and mapping unmanned ship based on a complex environment, and relates to the technical field of unmanned ship surveying and mapping assemblies, the probe loading device comprises a loading structure, a surveying and mapping probe and a protection structure, the loading structure comprises a loading cylinder, a visible window, a base, a vertical plate, an outer gear ring, a driving gear and a rotating air cylinder; the protection structure comprises a protection arc plate, the section of the protection arc plate is in a C shape, and an assembly base is arranged at the top of the protection arc plate. According to the technical scheme, by keeping the movable state of the loading cylinder relative to the protection arc plate, when the rotating air cylinder controls the driving gear to rotate and drives the outer gear ring to drive the vertical plate to rotate, the base can drive the loading cylinder to rotate on the inner side of the protection arc plate, and the loading cylinder moves relative to the protection arc plate; foreign matter is removed by means of edge angles of the side edges of the protection arc plates, the external structure is simple and regular when the protection arc plates and the loading cylinder are combined, and the situation of foreign matter winding is not prone to occurring.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ship survey components, and specifically to a probe loading device for an ocean survey unmanned ship based on a complex environment. Background Technique

[0002] The basic theories, technical methods, measuring instruments and equipment of ocean survey have many characteristics of their own compared with land survey. The main ones are that the measurement content is highly comprehensive, requiring multiple instruments to cooperate in the measurement and simultaneously completing multiple observation items; the survey area conditions are relatively complex, and the sea surface fluctuates due to the influence of tides, meteorology, etc.; most are dynamic operations, and the surveyors cannot visually observe the bottom of the water area with the naked eye, making it difficult to measure accurately. Generally, radio navigation systems, electromagnetic distance measuring instruments, underwater acoustic positioning systems, satellite integrated navigation systems, inertial navigation integrated systems, and astronomical methods are used to determine control points and locate measurement points; underwater acoustic instruments, laser instruments, and underwater photogrammetry methods are used to measure water depth and seabed topography; satellite technology, aerial survey, and marine gravity and magnetic surveys are used to conduct marine geophysical surveys.

[0003] The measurement methods of ocean survey mainly include marine seismic survey, marine gravity survey, marine magnetic survey, seafloor heat flow survey, marine electrical method survey, and marine radioactive survey. Due to the existence of the ocean water body, ocean survey ships and specialized measuring instruments must be used for rapid continuous observation, with one ship serving multiple purposes and comprehensive investigation. The basic measurement methods include: ① Route measurement. That is, profile measurement. To understand the basic characteristics of the geological structure and geophysical field in the sea area. ② Area measurement. According to the mapping scale specified in the task, a survey line network with a certain distance is arranged. The larger the scale, the denser the survey network. In ocean surveys, radio positioning systems and satellite navigation positioning systems are widely used.

[0004] An unmanned ship, as a type of ocean survey ship, is a fully automatic surface robot that can sail on the water according to a preset task without remote control, relying on precise satellite positioning and its own sensors. It can be used for flow measurement in large rivers, medium and small rivers, and emergency scenarios, providing a high-precision velocity profile and flow calculation solution based on ADCP, and is widely applicable to scenarios such as hydrology and water conservancy, water resource investigation, urban water area monitoring, and emergency response to sudden water conditions.

[0005] The patent document with the publication number CN215904686U, a probe loading device for an unmanned marine survey ship, by setting a blocking member and a rotating member. Here, the blocking member is installed at the bottom of the vertical member, and the rotating member is installed on both sides of the bottom of the main body. When in use, as the ship moves, the blades are set in an S-shaped structure, and the impact force of seawater causes the blades to drive the rotating member to rotate, thereby preventing debris from approaching the probe. The blocking member at the bottom is driven by the ship. When encountering debris, by setting the blocking member in a wedge shape, the debris can be better blocked and cut, preventing the debris from blocking the probe and affecting the surveying.

[0006] The patent document with the publication number CN213543555U, a probe loading device for an unmanned marine survey ship, adjusts the height of the probe to facilitate the convenient use requirements during marine surveying, effectively avoiding the influence of seawater turbulence on the detection probe when the sea waves are large, and by storing the probe, it is convenient to protect the probe, effectively avoiding corrosion loss when the probe is not in use, and then improving the practicality of the probe loading device during use.

[0007] However, in the process of implementing the above technical solutions, the following technical problems were found in the above technical solutions: The probe loading device for an unmanned marine survey ship (publication number: CN215904686U) cleans the debris around the probe by setting a blocking structure and a cutting blade, while the probe loading device for an unmanned marine survey ship (publication number: CN213543555U) adjusts the height of the probe to store and protect the probe. However, in the actual application process, when using the cutting blade to clean the debris around the probe, it is easy for algae and marine garbage to wind around the rotating shaft of the rotating blade, resulting in the blade being difficult to continue cleaning the debris. When the probe is not in use, simply using the method of storing the probe for protection is likely to cause the situation that marine biological algae adhere to the outside of the probe, affecting the subsequent use of the probe. Summary of the Invention

[0008] In order to overcome the deficiencies that when the existing probe loading device for unmanned marine survey vessels loads the survey probe, the method of using a cutting blade to clean the sundries around the probe easily causes algae and marine garbage to wind around the rotating blade shaft, resulting in the blade being difficult to continue cleaning the sundries, and when the probe is not in use, simply adopting the method of storing the probe for protection easily causes marine biological algae to adhere to the outside of the probe, affecting the subsequent use of the probe, the embodiment of the present application provides a probe loading device for unmanned marine survey vessels based on complex environments. By setting the form of a loading structure and a protection structure in cooperation at the bottom of the unmanned survey vessel, maintaining the state where the loading cylinder can move relative to the protection arc plate, when the rotary cylinder drives the outer gear ring to drive the vertical plate to rotate in the form of controlling the rotation of the driving gear, the base can drive the loading cylinder to rotate inside the protection arc plate, making the loading cylinder move relative to the protection arc plate, and using the side edges of the protection arc plate to remove foreign objects. Moreover, the external structure of the combination of the protection arc plate and the loading cylinder is simple and regular, and it is not easy to have the situation of foreign object entanglement.

[0009] The technical solution adopted by the embodiment of the present application to solve its technical problems is as follows: A probe loading device for unmanned marine survey vessels based on complex environments, including a loading structure, a survey probe, a protection structure, and an unmanned marine survey vessel; The survey probe is arranged inside the loading structure; The protection structure leans against the outside of the loading structure; Unmanned marine survey vessel; The loading structure includes a loading cylinder. A visual window is embedded and connected to the side of the bottom of the loading cylinder. A base is arranged inside the bottom of the loading cylinder. A vertical plate is assembled and connected to the top of the base away from the visual window. An outer gear ring is assembled and connected to the top of the vertical plate. A driving gear is meshed and connected to the outside of the outer gear ring. A rotary cylinder is assembled and connected to the top of the driving gear; The protection structure includes a protection arc plate. The cross-section of the protection arc plate is C-shaped. An assembly base is arranged at the top of the protection arc plate; Among them, the survey probe is assembled and connected to the top of the base. The loading cylinder moves relative to the protection arc plate, and uses the side edges of the protection arc plate to remove foreign objects.

[0010] In a possible implementation manner, a positioning rib is integrally formed at the inner wall of the loading cylinder away from the visual window. A positioning slide plate is integrally formed at the bottom of the base away from the visual window. An indentation notch is processed on the positioning slide plate and the side of the base away from the visual window together; the positioning slide plate is slidably connected to the outside of the positioning rib through the indentation notch. The rotary cylinder drives the outer gear ring to drive the vertical plate to rotate in the form of controlling the rotation of the driving gear, so that the base drives the loading cylinder to rotate inside the protection arc plate.

[0011] In a possible implementation, columns are provided on the bottom surface of the base near one side of the positioning slide plate. A support screw is threadedly connected to the bottom of the column, and a locknut is threadedly connected to the middle of the support screw; the locknut supports at the bottom surface of the column, and the support screw abuts against the inner bottom wall of the loading cylinder.

[0012] In a possible implementation, a conductive slip ring is provided on the top of the external gear ring, and the wire on the surveying and mapping probe is connected to the wire extending from the bottom of the conductive slip ring.

[0013] In a possible implementation, a receiving strip groove is formed inside the vertical plate. Two positioning double rods are welded to the inner wall of the receiving strip groove. The wire on the surveying and mapping probe is folded from the center and passes through the inner sides of the two positioning double rods, so that the folding point faces the axial region of the loading cylinder from the receiving strip groove.

[0014] In a possible implementation, a buckle frame covers the top of the external gear ring. A sector block is integrally formed on the inner wall of the external gear ring. A cross bar is integrally formed on the top of the buckle frame. A support shaft is provided at the bottom of one end of the cross bar close to the center of the buckle frame; the buckle frame is assembled inside the surveying and mapping unmanned ship through bolts. The inner wall of the buckle frame fits against the outer top wall of the loading cylinder. One end of the support shaft passes through the inside of the sector block and is connected to it using a bearing. The rotary cylinder is assembled to the end of the cross bar away from the center of the buckle frame. The driving gear passes through the inside of the buckle frame and meshes with the external gear ring.

[0015] In a possible implementation, an installation notch is formed at the edge of the buckle frame. The rotary cylinder shaft assembled to the top of the cross bar is located at the top of the installation notch. Bolts pass through the inside of the installation notch to assemble and fix the driving gear and the rotary cylinder shaft.

[0016] In a possible implementation, a receiving notch is formed at the bottom of the surveying and mapping unmanned ship. The assembly base is riveted and fixed to the inner top wall of the receiving notch, so that the assembly base is completely received inside the receiving notch.

[0017] In a possible implementation, shaft rods are processed at the tops of both sides of the protective arc plate parallel to the advancing direction of the surveying and mapping unmanned ship. Limit post grooves and strip notches are formed inside both sides of the assembly base parallel to the advancing direction of the surveying and mapping unmanned ship. The strip notch connects the limit post groove with the edge, and the diameter of the limit post groove is larger than the width of the strip notch. A buckle cap sleeved on the outside of the shaft rod is pinned inside the limit post groove.

[0018] In a possible implementation, a ring groove and a cylindrical notch are formed at the bottom of the loading cylinder. An inner side of the protective arc plate is provided with a movable channel having a cross-shaped section. A limiting pin strip is arranged at a top of the movable channel and is pinned inside the protective arc plate. A limiting ball is movably connected inside the ring groove. A short rod is integrally formed on a surface of the limiting ball. A cross bar is pinned inside an end of the short rod away from the limiting ball. The cylindrical notch is perpendicular to a center of the loading cylinder and communicates an outside of the loading cylinder with an inside of the ring groove. An outside of the ring groove communicates with an outside of the loading cylinder. The short rod and the cross bar are slidably connected inside the movable channel.

[0019] The beneficial effects of the present application are as follows: First, in this solution, by providing a form of cooperation between a loading structure and a protection structure at the bottom of the mapping unmanned ship, the loading cylinder is kept in a movable state relative to the protective arc plate. When the rotary cylinder drives the outer gear ring to drive the vertical plate to rotate by controlling the rotation of the driving gear, the base can drive the loading cylinder to rotate inside the protective arc plate, making the loading cylinder move relative to the protective arc plate. The foreign objects can be removed by means of the side edges of the protective arc plate. Moreover, the external structure in the combined state of the protective arc plate and the loading cylinder is simple and regular, and it is not easy to be entangled by foreign objects. Second, in this solution, when the loading cylinder rotates inside the protective arc plate, the short rod and the cross bar are located inside the movable channel, which can support the loading cylinder to rotate outside the limiting ball through the ring groove. At the same time, when the loading cylinder is lifted upward, the loading cylinder pulls the limiting ball through the ring groove to drive the short rod and the cross bar to move upward. After the short rod and the cross bar contact the limiting pin strip at the top of the movable channel, the protective arc plate is driven to rotate around the shaft rod, which is convenient for linking the protective arc plate to be in a horizontal state. Description of the Drawings

[0020] Figure 1 It is one of the overall structural schematic diagrams of a probe loading device for a marine mapping unmanned ship based on a complex environment according to the present invention; Figure 2 It is the second of the overall structural schematic diagrams of a probe loading device for a marine mapping unmanned ship based on a complex environment according to the present invention; Figure 3 It is a probe loading device for a marine mapping unmanned ship based on a complex environment according to the present invention Figure 2 in a magnified schematic diagram of part A; Figure 4 It is a connection structural schematic diagram of a loading structure and a protection structure of a probe loading device for a marine mapping unmanned ship based on a complex environment according to the present invention; Figure 5 It is a structural schematic diagram of a loading structure and a protection structure of a probe loading device for a marine mapping unmanned ship based on a complex environment according to the present invention in a disengaged connection state; Figure 6 Schematic diagram of the bottom structure of the base of the probe loading device for an unmanned marine surveying ship based on a complex environment according to the present invention; Figure 7 Schematic diagram of the structure of the loading cylinder of the probe loading device for an unmanned marine surveying ship based on a complex environment according to the present invention in a driven state; Figure 8 Probe loading device for an unmanned marine surveying ship based on a complex environment according to the present invention Figure 7 Enlarged schematic diagram of part B in Figure 9 Schematic diagram of the structure of the probe loading device for an unmanned marine surveying ship based on a complex environment according to the present invention when the rotating cylinder and the driving gear are disengaged; Figure 10 Cross-sectional view of the loading cylinder and the protective arc plate of the probe loading device for an unmanned marine surveying ship based on a complex environment according to the present invention; Figure 11 Probe loading device for an unmanned marine surveying ship based on a complex environment according to the present invention Figure 10 Enlarged schematic diagram of part C in Figure 12 Probe loading device for an unmanned marine surveying ship based on a complex environment according to the present invention Figure 10 Enlarged schematic diagram of part D in

[0021] Reference numerals: 1. Unmanned surveying ship; 2. Loading structure; 201. Loading cylinder; 202. Rotating cylinder; 203. Driving gear; 204. Cross bar; 205. External gear ring; 206. Buckle; 207. Sector block; 208. Support shaft; 209. Vertical plate; 210. Visual window; 211. Base; 212. Positioning slide plate; 213. Support screw; 214. Locknut; 215. Column; 216. Positioning rib; 3. Protective structure; 301. Protective arc plate; 302. Assembly base; 303. Buckle cap; 304. Shaft rod; 305. Limit pin strip; 306. Limit ball; 307. Short rod; 308. Cross bar; 4. Receiving notch; 5. Strip-shaped notch; 6. Conductive slip ring; 7. Surveying probe; 8. Positioning double rod; 9. Receiving strip groove; 10. Recessed notch; 11. Cylindrical notch; 12. Installation notch; 13. Limit post groove; 14. Activity channel; 15. Ring groove. Detailed implementation manners

[0022] The technical solutions in the embodiments of the present application are to solve the problems in the above-mentioned background technology, and the general idea is as follows: Embodiment 1: This embodiment introduces the specific structure of a probe loading device for an unmanned marine survey vessel based on a complex environment. Specifically, refer to Figures 1-9 as shown in the figure, it includes a loading structure 2, a surveying probe 7 arranged inside the loading structure 2, a protective structure 3 leaning against the outside of the loading structure 2, and an unmanned marine survey vessel 1. The loading structure 2 includes a loading cylinder 201. A visual window 210 is embedded and connected to the side of the bottom of the loading cylinder 201. A base 211 is arranged inside the bottom of the loading cylinder 201. The surveying probe 7 is assembled and connected to the top of the base 211. A vertical plate 209 is assembled and connected to the top of the base 211 on the side away from the visual window 210. An external gear ring 205 is assembled and connected to the top of the vertical plate 209. A driving gear 203 is meshed and connected to the outside of the external gear ring 205. A rotary cylinder 202 is assembled and connected to the top of the driving gear 203; The protective structure 3 includes a protective arc plate 301. The cross-section of the protective arc plate 301 is in a C shape. An assembly base 302 is arranged at the top of the protective arc plate 301; Among them, a positioning rib 216 is integrally formed on the inner wall of the loading cylinder 201 on the side away from the visual window 210. A positioning slide plate 212 is integrally formed at the bottom of the base 211 on the side away from the visual window 210. An indentation notch 10 is processed on the positioning slide plate 212 and the side of the base 211 away from the visual window 210. When the positioning slide plate 212 is slidably connected to the outside of the positioning rib 216 through the indentation notch 10, the positioning slide plate 212 can be slidably connected to the outside of the positioning rib 216 by means of the indentation notch 10, ensuring that the loading cylinder 201 and the base 211 are in a synchronous movement state in the direction perpendicular to its axis; At the same time, when the rotary cylinder 202 drives the external gear ring 205 to drive the vertical plate 209 to rotate by controlling the rotation of the driving gear 203, the base 211 can drive the loading cylinder 201 to rotate inside the protective arc plate 301, making the loading cylinder 201 move relative to the protective arc plate 301, and removing foreign objects (marine organisms climbing on the outer wall of the loading cylinder 201) by means of the side edges of the protective arc plate 301; Moreover, the external structure of the combined state of the protective arc plate 301 and the loading cylinder 201 is simple and regular, and it is not easy to be entangled by foreign objects; In addition, the tooth number ratio of the external gear ring 205 to the driving gear 203 is two to one. The rotary cylinder 202 is selected with a model that rotates 360 degrees forward and backward. When the rotary cylinder 202 rotates, it can drive the driving gear 203 to drive the external gear ring 205 to rotate half a circle, so that the surveying probe 7 on the top of the base 211 and the loading cylinder 201 both rotate 180 degrees, making the orientation of the visual window 210 and the surveying probe 7 opposite to the position of the protective arc plate 301, thereby supporting the surveying probe 7 to obtain marine environment images from underwater; Secondly, to facilitate the control of the vertical relative position between the surveying and mapping probe 7 and the visual window 210, as Figure 5 and Figure 6 shown, a column 215 is provided on the bottom surface of the base 211 near one side of the positioning slide plate 212. A support screw 213 is threadedly connected to the bottom of the column 215, and a locknut 214 is threadedly connected to the middle of the support screw 213. By adjusting the threaded connection between the support screw 213 and the column 215 to control the distance between the support screw 213 and the column 215, and then adjusting the threaded connection between the locknut 214 and the support screw 213 so that the locknut 214 supports on the bottom surface of the column 215, the support screw 213 can be supported against the inner bottom wall of the loading cylinder 201, and the surveying and mapping probe 7 can be supported to obtain marine environment images from underwater through the visual window 210; Furthermore, to facilitate the rotation of the loading cylinder 201 driving the surveying and mapping probe 7 inside the protective arc plate 301 without being affected by the wires on the surveying and mapping probe 7, as Figure 5 shown, a conductive slip ring 6 is provided on the top of the external gear ring 205. By connecting the wires on the surveying and mapping probe 7 to the wires extending from the bottom of the conductive slip ring 6, and relying on the characteristic that the two parts inside and outside the conductive slip ring 6 can rotate relative to each other, the normal transmission of electrical signals is ensured; Meanwhile, to prevent the wires on the surveying and mapping probe 7 from scattering inside the loading cylinder 201 and affecting the acquisition of marine environment images by the surveying and mapping probe 7 from underwater through the visual window 210, as Figure 6 shown, a storage strip groove 9 is formed inside the vertical plate 209, and two positioning double rods 8 are welded to the inner wall of the storage strip groove 9. By folding the wires on the surveying and mapping probe 7 from the center and passing them through the inside of the two positioning double rods 8, and making the folding point face the axis area of the loading cylinder 201 from the storage strip groove 9, the excessive part of the wires can be bound to the vertical plate 209 to prevent the wires from scattering and blocking the lens of the surveying and mapping probe 7; In some examples, a buckle 206 covers the top of the external gear ring 205, a sector block 207 is integrally formed on the inner wall of the external gear ring 205, a cross bar 204 is integrally formed on the top of the buckle 206, and a support shaft 208 is provided at the bottom of the cross bar 204 near one end of the center of the buckle 206; Among them, the buckle 206 is assembled into the interior of the surveying and mapping unmanned ship 1 through bolts. The inner wall of the buckle 206 fits against the outer wall of the top of the loading cylinder 201. One end of the support shaft 208 passes through the inside of the sector block 207 and is connected to it using a bearing. The rotary cylinder 202 is assembled to the end of the cross bar 204 away from the center of the buckle 206, and the driving gear 203 passes through the inside of the buckle 206 and meshes with the external gear ring 205; Meanwhile, the waterproof treatment is applied between the inner wall of the buckle 206 and the top outer wall of the loading cylinder 201, and the conventional means for the existing hull rotating parts extending into the water is adopted (such as the waterproof treatment maintained between the submarine propeller and the hull during rotation in the water); Secondly, to facilitate the assembly and fixation of the rotary cylinder 202 and the driving gear 203, as Figure 9 shown, an installation notch 12 is formed at the edge of the buckle 206. By making the rotating shaft of the rotary cylinder 202 assembled to the top of the cross bar 204 located at the top of the installation notch 12, when the bolt passes through the inside of the installation notch 12, the driving gear 203 can be assembled and fixed to the rotating shaft of the rotary cylinder 202.

[0023] Through the above design, by setting the loading structure 2 and the protection structure 3 in cooperation at the bottom of the survey unmanned ship 1, the state that the loading cylinder 201 can move relative to the protection arc plate 301 is maintained. When the rotary cylinder 202 drives the outer gear ring 205 to drive the vertical plate 209 to rotate in the form of controlling the driving gear 203 to rotate, the base 211 can drive the loading cylinder 201 to rotate inside the protection arc plate 301, making the loading cylinder 201 move relative to the protection arc plate 301. By means of the side edges of the protection arc plate 301, foreign objects can be removed. Moreover, the external structure of the combination of the protection arc plate 301 and the loading cylinder 201 is simple and regular, and it is not easy to be entangled by foreign objects. This solves the problems that when the existing probe loading device loads the survey probe, the method of using a cutting blade to clean the debris around the probe is prone to the situation that algae and marine garbage are wound around the rotating shaft of the rotating blade, resulting in the blade being difficult to continue cleaning the debris. And when the probe is not in use, simply using the method of storing the probe for protection is prone to the situation that marine biological algae adhere to the outside of the probe, affecting the subsequent use of the probe; Meanwhile, in the initial state, the visual window 210 on the loading cylinder 201 is located inside the protection arc plate 301. When the rotary cylinder 202 rotates, it can drive the driving gear 203 to drive the outer gear ring 205 to rotate, so that the survey probe 7 and the loading cylinder 201 on the top of the base 211 rotate to a position opposite to that of the protection arc plate 301, thereby supporting the survey probe 7 to obtain marine environment images from underwater.

[0024] Embodiment 2: Based on Embodiment 1, this embodiment introduces the specific structures of the protection structure 3 and the loading structure 2 of a probe loading device for a marine survey unmanned ship based on a complex environment, as Figure 2 , Figure 3 , Figures 10-12 shown, a storage notch 4 is formed at the bottom of the survey unmanned ship 1, and the assembly base 302 is riveted and fixed to the top inner wall of the storage notch 4. Shaft rods 304 are processed at the tops on both sides of the protection arc plate 301 parallel to the advancing direction of the survey unmanned ship 1, and limiting post grooves 13 and strip-shaped notches 5 are formed inside the assembly base 302 on both sides parallel to the advancing direction of the survey unmanned ship 1; Among them, by making the strip-shaped notch 5 communicate the limit post groove 13 with the edge, and the diameter of the limit post groove 13 is greater than the width of the strip-shaped notch 5, and a fastening cap 303 sleeved outside the shaft rod 304 and pinned to the inside of the limit post groove 13 is provided, the protective arc plate 301 can be supported to rotate around the fastening cap 303 inside the assembly base 302, so as to achieve the effect that the protective arc plate 301 is completely received inside the receiving notch 4 when in a horizontal state; Secondly, in order to facilitate the extraction of the loading cylinder 201 into the interior of the mapping unmanned ship 1, the protective arc plate 301 can be directly rotated around the fastening cap 303, so that the protective arc plate 301 is received inside the receiving notch 4 in a horizontal state, as Figure 12 shown, a ring groove 15 and a cylindrical notch 11 are provided at the bottom of the loading cylinder 201, a movable channel 14 with a cross-shaped cross-section is provided inside the protective arc plate 301, a limit pin 305 pinned to the inside of the protective arc plate 301 is provided at the top of the movable channel 14, a limit ball 306 is movably connected inside the ring groove 15, a short rod 307 is integrally formed on the surface of the limit ball 306, and a cross bar 308 is pinned to the inside of the end of the short rod 307 away from the limit ball 306. By making the cylindrical notch 11 perpendicular to the center of the loading cylinder 201 and connecting the outside of the loading cylinder 201 with the inside of the ring groove 15, the limit ball 306 can be installed from the cylindrical notch 11 to the inside of the ring groove 15 during the assembly stage, and it is ensured that the loading cylinder 201 can rotate outside the limit ball 306 through the ring groove 15; At the same time, the outside of the ring groove 15 is connected to the outside of the loading cylinder 201. By making the short rod 307 and the cross bar 308 slide inside the movable channel 14, when the loading cylinder 201 rotates inside the protective arc plate 301, the short rod 307 and the cross bar 308 are inside the movable channel 14, and the loading cylinder 201 rotates outside the limit ball 306 through the ring groove 15. When the loading cylinder 201 is lifted upwards, the loading cylinder 201 pulls the limit ball 306 through the ring groove 15 to drive the short rod 307 and the cross bar 308 to move upwards. When the short rod 307 and the cross bar 308 contact the limit pin 305 at the top of the movable channel 14, the protective arc plate 301 is driven to rotate around the shaft rod 304, so that when the upwardly moving loading cylinder 201 is about to be received inside the mapping unmanned ship 1, the protective arc plate 301 can be linked to be in a horizontal state.

[0025] The above design provides a receiving notch 4 on the bottom of the unmanned surveying and mapping vessel 1, allowing the protective arc plate 301 to be hinged to the inner side of the assembly base 302 via the shaft 304 and the buckle cap 303. Furthermore, the annular groove 15 is used on the outer side of the bottom of the loading cylinder 201, and the movable groove 14 is used on the inner side of the protective arc plate 301 to connect the limiting ball 306, the short rod 307, and the cross bar 308. When the loading cylinder 201 rotates inside the protective arc plate 301, the short rod 307 and the cross bar 308 are located inside the movable groove 14, while the loading cylinder 201 rotates outside the limiting ball 306 via the annular groove 15. At the same time, when the loading cylinder 201 is lifted to the top, the loading cylinder 201 pulls the limiting ball 306 through the annular groove 15 to drive the short rod 307 and the cross bar 308 to move to the top. After the short rod 307 and the cross bar 308 contact the limiting pin 305 at the top of the movable channel 14, the protective arc plate 301 is driven to rotate around the shaft 304, so that when the loading cylinder 201 that moves toward the top is about to be stored inside the surveying and mapping unmanned boat 1, the protective arc plate 301 can be linked to be in a horizontal state, which is beneficial for removing the loading structure 2 so that the protective arc plate 301 can be stored on the inner side of the storage slot 4, keeping the bottom surface of the surveying and mapping unmanned boat 1 free of protrusions.

[0026] Finally, it should be noted that the above embodiments are merely examples for the purpose of illustrating the present invention and are not intended to limit the embodiments. Those skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. It is not necessary and impossible to provide an exhaustive list of all embodiments. However, obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An underwater probe loading device for an ocean survey unmanned ship based on a complex environment, characterized in that Comprising: A loading structure (2); A surveying probe (7), which is arranged inside the loading structure (2); A protective structure (3), which leans against the outside of the loading structure (2); A surveying unmanned ship (1); The loading structure (2) includes a loading cylinder (201). A visual window (210) is embedded and connected to the side of the bottom of the loading cylinder (201). A base (211) is arranged inside the bottom of the loading cylinder (201). A vertical plate (209) is assembled and connected to the top of the side of the base (211) away from the visual window (210). An external gear ring (205) is assembled and connected to the top of the vertical plate (209). A driving gear (203) is meshed and connected to the outside of the external gear ring (205). A rotary cylinder (202) is assembled and connected to the top of the driving gear (203); The protective structure (3) includes a protective arc plate (301). The cross-section of the protective arc plate (301) is C-shaped. An assembly base (302) is arranged at the top of the protective arc plate (301); Wherein, the surveying probe (7) is assembled and connected to the top of the base (211). The loading cylinder (201) moves relative to the protective arc plate (301), and foreign objects are removed by the side edges of the protective arc plate (301).

2. The probe loading device for an unmanned marine survey vessel based on a complex environment according to claim 1, wherein: A positioning rib (216) is integrally formed on the inner wall of the side of the loading cylinder (the side away from the visual window (210)). A positioning sliding plate (212) is integrally formed on the bottom of the side of the base (211) away from the visual window (210). An indented notch (10) is jointly processed on the side of the positioning sliding plate (212) and the base (211) away from the visual window (210); Wherein, the positioning sliding plate (212) is slidably connected to the outside of the positioning rib (216) through the indented notch (10). The rotary cylinder (202) drives the external gear ring (205) to drive the vertical plate (209) to rotate in the form of controlling the rotation of the driving gear (203), so that the base (211) drives the loading cylinder (201) to rotate inside the protective arc plate (301).

3. The probe loading device for an unmanned marine survey ship based on a complex environment according to claim 1, characterized in that: A column (215) is arranged on the bottom surface of the bottom of the base (211) near the positioning sliding plate (there is a missing word here, it should be something like "near the positioning sliding plate (212)"). A support screw (213) is threadedly connected to the bottom of the column (215). A locknut (214) is threadedly connected to the middle of the support screw (213); Wherein, the locknut (214) supports on the bottom surface of the column (215), and the support screw (213) abuts against the bottom inner wall of the loading cylinder (201).

4. The probe loading device for an unmanned marine survey vessel based on a complex environment according to claim 1, characterized in that: A conductive slip ring (6) is arranged at the top of the external gear ring (205). The wire on the surveying probe (7) is connected to the wire coming out from the bottom direction of the conductive slip ring (6).

5. The probe loading device for an unmanned marine survey ship based on a complex environment according to claim 1, wherein: A receiving strip groove (9) is opened inside the vertical plate (209). Two positioning double rods (8) are welded to the inner wall of the receiving strip groove (9). The wire on the surveying probe (7) is folded from the center and passes through the inside of the two positioning double rods (8), so that the folding point faces the axial region of the loading cylinder (201) from the receiving strip groove (9).

6. The probe loading device for an unmanned marine survey ship based on a complex environment according to claim 1, wherein: The top of the external gear ring (205) is covered with a buckle frame (206). A sector block (207) is integrally formed at the inner wall of the external gear ring (205). A cross bar (204) is integrally formed at the top of the buckle frame (206). A support shaft (208) is provided at the bottom of the cross bar (204) near one end of the buckle frame (206) close to the center of the circle. Among them, the buckle frame (206) is assembled to the inside of the survey unmanned ship (1) by bolts. The inner wall of the buckle frame (206) is in contact with the top outer wall of the loading cylinder (201). One end of the support shaft (208) passes through the inside of the sector block (207) and is connected to it using a bearing. The rotary cylinder (202) is assembled to one end of the cross bar (204) away from the center of the buckle frame (206). The driving gear (203) passes through the inside of the buckle frame (206) and meshes with the external gear ring (205).

7. The probe loading device for an unmanned ship used in marine surveying based on a complex environment as claimed in claim 6, wherein: An installation notch (12) is formed at the edge of the buckle frame (206). The rotating shaft of the rotary cylinder (202) assembled to the top of the cross bar (204) is located at the top of the installation notch (12). Bolts pass through the inside of the installation notch (12) to assemble and fix the driving gear (203) and the rotating shaft of the rotary cylinder (202).

8. The probe loading device for an unmanned marine survey ship based on a complex environment according to claim 1, wherein: A storage notch (4) is formed at the bottom of the survey unmanned ship (1). The assembly base (302) is riveted and fixed to the top inner wall of the storage notch (4) so that the assembly base (302) is completely stored inside the storage notch (4).

9. The probe loading device for an unmanned marine survey ship based on a complex environment according to claim 8, characterized in that: Shaft rods (304) are processed at the top of both sides of the protective arc plate (301) parallel to the advancing direction of the survey unmanned ship (1). Limit post grooves (13) and strip-shaped notches (5) are formed inside both sides of the assembly base (302) parallel to the advancing direction of the survey unmanned ship (1). The strip-shaped notch (5) connects the limit post groove (13) with the edge. The diameter of the limit post groove (13) is larger than the width of the strip-shaped notch (5). A buckle cap (303) sleeved on the outside of the shaft rod (304) is pinned to the inside of the limit post groove (13).

10. A probe loading device for an unmanned ship for marine surveying based on a complex environment as described in claim 9, characterized in that: An annular groove (15) and a cylindrical notch (11) are formed at the bottom of the loading cylinder (201). An activity channel (14) with a cross-shaped section is arranged inside the protective arc plate (301). A limit pin bar (305) pinned to the inside of the protective arc plate (301) is provided at the top of the activity channel (14). A limit ball (306) is movably connected inside the annular groove (15). A short rod (307) is integrally formed on the surface of the limit ball (306). A cross bar (308) is pinned and connected to the inside of the short rod (307) away from one end of the limit ball (306). Among them, the cylindrical notch (11) is perpendicular to the center of the loading cylinder (201) and connects the outside of the loading cylinder (201) with the inside of the annular groove (15). The outside of the annular groove (15) is connected to the outside of the loading cylinder (201). The short rod (307) and the cross bar (308) are slidably connected inside the activity channel (14).

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